CN108241292A - A kind of underwater robot sliding-mode control based on extended state observer - Google Patents
A kind of underwater robot sliding-mode control based on extended state observer Download PDFInfo
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- CN108241292A CN108241292A CN201711289308.2A CN201711289308A CN108241292A CN 108241292 A CN108241292 A CN 108241292A CN 201711289308 A CN201711289308 A CN 201711289308A CN 108241292 A CN108241292 A CN 108241292A
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- underwater robot
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract
The invention discloses a kind of underwater robot sliding-mode controls based on extended state observer, initially set up underwater robot system model under inertial coodinate system, i.e. the equation of motion under its inertial system；Then three rank extended state observers are designed for the underwater robot, and passes through and solve the parameter that linear matrix inequality provides extended state observer；Then continuous TSM control device is designed to control underwater robot.This method strong robustness can obtain higher control accuracy and faster corresponding speed, convenient for Project Realization.
Description
Technical field
The invention belongs to underwater robot control methods, are related to a kind of underwater robot based on extended state observer and slide
Mould control method.
Background technology
Due to the fast development of space technology, as the steps necessary of verification ground space technology, microgravity emulation technology
By domestic and international more and more extensive concerns；The environment that underwater robot provides a stable microgravity is used for simulating sky
Between middle mechanical equipment local environment, the coupling between underwater robot with six degrees of freedom structure is very strong, model it is non-linear also very
It is high；Further, since by the influence of the external disturbances such as water velocity and flow viscosity resistance, cause than common mechanical equipment
Control difficulty higher.
The current control strategy for underwater robot can only obtain Asymptotic Stability mostly as a result, and robust performance compared with
Difference, and for the strong coupling of underwater robot with six degrees of freedom, strong nonlinearity and complicated external disturbance, improve the Shandong of system
Stick performance, control accuracy and response speed have a very important significance；In order to further improve control accuracy and raising
Response speed, while the robust performance of system is improved, we use the sliding mode control strategy based on extended state observer, to obtain
Obtain finite time stability result.
For traditional Application of Auto-Disturbance Rejection, mainly including following three parts：Nonlinear Tracking Differentiator, nonlinear Feedback Control
Rule and extended state observer.Nonlinear Tracking Differentiator can reasonable arrangement transient process, generate Setting signal tracking signal and
Differential signal.Extended state observer is the core of automatic disturbance rejection controller, and core concept is that model uncertainty is drawn
External disturbance caused by the internal disturbance and environment that rise all is attributed to " the total disturbance " of system and carries out real-time estimation and give to mend
It repays.Nonlinear Feedback Control rule is to error Feedback Design nonlinear combination, so as to obtain better control effect.It is meanwhile non-
Linear Application of Auto-Disturbance Rejection from control performance better than linear active disturbance rejection control method, but when can not equally obtain limited
Between stabilization result.Can only by virtue of experience simultaneously for third-order non-linear extended state observer parameter regulation, there is no theories to refer to
Parameter regulation is led, very big difficulty is brought to engineer application.
System is not known unrelated with external interference under sliding mode with systematic parameter in sliding formwork control, therefore sliding formwork control
Quick response can be provided, it is insensitive to system parameter variations and external interference, without many merits such as System Discriminations.But one
High dither existing for the general sliding formwork control of aspect has not only broken up the accuracy of system, and can increase system capacity consumption.Separately
The discontinuity of one side control law also results in the discontinuity of robot control moment, so as to influence system performance.
Invention content
The present invention provides a kind of underwater robot sliding-mode controls based on extended state observer, used by establishing
Underwater robot system model under property coordinate system, and extended state observer is designed, while provide extended state observer
Parameter, design continuous TSM control device and underwater robot controlled, this method strong robustness can obtain higher
Control accuracy and faster corresponding speed, convenient for Project Realization.
The technical scheme is that：A kind of underwater robot sliding-mode control based on extended state observer, packet
Include following steps：
Step S1 establishes underwater human occupant dynamic model and kinematics model under inertial coodinate system, and dynamic according to it
Mechanical model and kinematics model establish the equation of motion under underwater robot inertial system
Step S2, structure three ranks expansion shape body observer：
Wherein i=1,2,3,4,5,6 and βi1,βi2,βi3For observer gain, observation error ei1(t)=zi1(t)-ηi
(t), ei2(t)=zi2(t)-vi(t), ei3(t)=zi3(t)-fi(t), fi(t) it is unknown disturbance；And pass through linear inequality
Adjust the parameter of observer；
Step S3 designs continuous TSM control device, initially sets up tracking error model, is then based on expansion state sight
Device is surveyed, designs the control signal of continuous TSM control device；
Step S4 obtains control moment τic(t), and the equation of motion under the inertial system of underwater robot is controlled, so as to real
Now underwater robot is controlled.
Further, the features of the present invention also characterized in that：
Kinetic model and kinematics model are respectively in wherein step S1：
Wherein MRBIt represents body inertial matrix, represents CRBOvshinsky torque battle array, M in body sectionAMIt represents and the relevant water of body
Flow medium inertial matrix, CAMIt represents and Ovshinsky torque battle array in the relevant water flow medium section of body, Dr(vr(t)) v (t) is hindered for viscosity
Power, g (η (t)) be negative buoyancy force, τc(t) torque, J (η (t)) are Jacobian matrix, η (t), v (t) and v in order to controlr(t)=v (t)-
vc(t) it is respectively body coordinate system lower body position, the generalized velocity of fluid relative, v under body speed and body coordinate systemc(t) it is body
The speed of flow under coordinate system.
The parameter of extended state observer is wherein adjusted by linear matrix inequality, which is：
Wherein k1~k7It is known positive definite constant, and meets following formula establishment：
Tracking error model is in wherein step S3：xi1(t)=ηi(t)-ηid(t),xi2(t)=vi(t)-vid(t)。
The control signal of continuous TSM control device is in wherein step S3：
Wherein ki1,ki2,Ti,αiIt is controller parameter, zi3(t) it is that the unknown disturbance information that extended state observer observes is used
The external disturbance of uncertainty and variation inside real-time compensation system.
In wherein step S1 under inertial system in the equation of motion
Wherein D*(v(t),η(t))v(t),g*(η (t)) is the unknown.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is seen by designing three novel rank expansion states
Device is surveyed, and by solving linear matrix inequality so that adjustment extended state observer parameter becomes simple, solves three ranks
The problem of nonlinear extension state observer adjusting parameter is difficult, convenient for Project Realization；Design continuous TSM control simultaneously
Device ensures the continuity of control input, lowers the chattering phenomenon of sliding formwork control, while obtain finite-time control as a result, obtaining
Better control performance；Continuous TSM control device based on novel expanded state observer, to systematic uncertainty and
External disturbance real-time compensation can reduce sliding formwork control gain.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Specific embodiment
Technical scheme of the present invention is further illustrated in the following with reference to the drawings and specific embodiments.
The present invention provides a kind of underwater robot sliding-mode control based on extended state observer, as shown in Figure 1,
Include the following steps：
Step S1 establishes underwater human occupant dynamic model and kinematics model under inertial coodinate system, respectively：
Wherein MRBIt represents body inertial matrix, represents CRBOvshinsky torque battle array, M in body sectionAMIt represents and the relevant water of body
Flow medium inertial matrix, CAMIt represents and Ovshinsky torque battle array in the relevant water flow medium section of body, Dr(vr(t)) v (t) is hindered for viscosity
Power, g (η (t)) be negative buoyancy force, τc(t) torque, J (η (t)) are Jacobian matrix, η (t), v (t) and v in order to controlr(t)=v (t)-
vc(t) it is respectively body coordinate system lower body position, the generalized velocity of fluid relative, v under body speed and body coordinate systemc(t) it is body
The speed of flow under coordinate system.
It is as follows to above-mentioned hypothesis for the ease of design：Water velocity v under body coordinate systemcFor slow time-varying, i.e. vc(t)
≈0；vcWhen speed v with respect to underwater robot is a small amount of, approximation obtains C (v (t)) v (t) ≈ C (vr(t))vr(t)。
Therefore formula (1) simplification is obtained
Wherein M=MRB+MAM, C=CRB+CAM。
Finally obtaining the equation of motion under inertial system is：
WhereinD*(v(t),η(t))v(t),
g*(η (t)) is the unknown.
Relevant parameter definition is as follows：rB=[xB,yB,zB]T=[0,0,0]T, rG=[xG,yG,zG]T=[0,0,0.05
]T, m=125.
C=CAM+CRB,Wherein, xB, yBAnd zBIt is centre of buoyancy coordinate, xG, yGAnd zGRepresent center-of-mass coordinate, m represents matter
Amount, I0It is moment of inertia matrix, v1=[μ υ ω]TAnd v2=[p q r]TIt is the translational velocity of speed v (t) and angular speed point
Amount, CAMAnd CRBIt is Ke Shi matrixes possessed by the movement of institute's bank fluid and Ke Shi matrixes respectively.
Step S2, since kinetics equation is second order under underwater robot inertial system, be estimating system it is uncertain and
Environment is outer around three rank extended state observers of structure are：
Wherein i=1,2,3,4,5,6, βi1,βi2,βi3For observer gain.Definition observation error is ei1(t)=zi1(t)-
ηi(t), ei2(t)=zi2(t)-vi(t), ei3(t)=zi3(t)-fi(t), fi(t) it is unknown disturbance.
For unknown disturbance fi(t), it is assumed that as follows：
Wherein LiIt is known constant.
For three rank extended state observer parameter adjustments it is complicated the problem of, this method is by solving linear matrix inequality technique
Formula to adjust the parameter of extended state observer, makes extended state observer reach a good estimation effect；It is wherein linear
MATRIX INEQUALITIES is：
Wherein k1~k7It is known positive definite constant, needs to ensure to set up with lower inequality.
Step S3 designs continuous TSM control device；In order to obtain higher control accuracy and faster corresponding speed
Degree, while for the chattering phenomenon for reducing sliding mode control algorithm, therefore this method is by using continuous TSM control algorithm
Reach finite time stability conclusion；For underwater robot, using its degree of freedom define tracking error as：xi1(t)=ηi(t)-ηid
(t),xi2(t)=vi(t)-vid(t), wherein ηid(t) it is ideal position signal, vid(t) it is ideal velocity signal.
Based on extended state observer, following continuous TSM control signal is designed：
Wherein ki1,ki2,Ti,αiIt is controller parameter, zi3(t) it is unknown disturbance information that extended state observer observes
For the uncertainty and the external disturbance of variation inside real-time compensation system.
Step S4 completes the control strategy of underwater robot；Specifically obtain final control moment τic(t), it is brought into used
Property coordinate system under underwater robot system model formation (4) in controlled, according to control strategy to underwater robot distinguish
Extended state observer and continuous TSM control device are designed, completes to control underwater robot.
The method of the present invention is particularly suitable for underwater robot with six degrees of freedom, and inertial coodinate system is initially set up according to this method
The equation of motion under lower underwater robot with six degrees of freedom system model, i.e. its inertial system；Then it is directed to the six degree of freedom underwater
People designs three rank extended state observers, and passes through and solve the parameter that linear matrix inequality provides extended state observer；So
After design continuous TSM control device underwater robot controlled, do not consider the certainty of system, control method robust
Property is strong, can obtain higher control accuracy and faster response speed.
Claims (6)
1. a kind of underwater robot sliding-mode control based on extended state observer, which is characterized in that include the following steps：
Step S1 establishes underwater human occupant dynamic model and kinematics model under inertial coodinate system, and according to its dynamics
Model and kinematics model establish the equation of motion under underwater robot inertial system
Step S2, structure three ranks expansion shape body observer：
Wherein i=1,2,3,4,5,6 and βi1,βi2,βi3For observer gain, observation error ei1(t)=zi1(t)-ηi(t), ei2
(t)=zi2(t)-vi(t), ei3(t)=zi3(t)-fi(t), fi(t) it is unknown disturbance；And it is adjusted and seen by linear inequality
Survey the parameter of device；
Step S3 designs continuous TSM control device, initially sets up tracking error model, is then based on expansion state observation
Device designs the control signal of continuous TSM control device；
Step S4 obtains control moment τic(t), and the equation of motion under the inertial system of underwater robot is controlled, so as to fulfill right
Underwater robot is controlled.
2. the underwater robot sliding-mode control according to claim 1 based on extended state observer, feature exist
In kinetic model and kinematics model are respectively in the step S1：
Wherein MRBIt represents body inertial matrix, represents CRBOvshinsky torque battle array, M in body sectionAMIt represents to be situated between with the relevant flow of body
Matter inertial matrix, CAMIt represents and Ovshinsky torque battle array in the relevant water flow medium section of body, Dr(vr(t)) v (t) be viscous drag, g
(η (t)) be negative buoyancy force, τc(t) torque, J (η (t)) are Jacobian matrix, η (t), v (t) and v in order to controlr(t)=v (t)-vc
(t) it is respectively body coordinate system lower body position, the generalized velocity of fluid relative, v under body speed and body coordinate systemc(t) it is body
The speed of flow under coordinate system.
3. the underwater robot sliding-mode control according to claim 1 based on extended state observer, feature exist
In the parameter of extended state observer being adjusted in the step S2 by linear matrix inequality, which is：
Wherein k1~k7It is known positive definite constant, and meets following formula establishment：
4. the underwater robot sliding-mode control according to claim 1 based on extended state observer, feature exist
In tracking error model is in the step S3：xi1(t)=ηi(t)-ηid(t),xi2(t)=vi(t)-vid(t)。
5. the underwater robot sliding-mode control according to claim 4 based on extended state observer, feature exist
In the control signal of continuous TSM control device is in the step S3：
Wherein ki1,ki2,Ti,αiIt is controller parameter, zi3(t) it is that the unknown disturbance information that extended state observer observes is used for
The external disturbance of uncertainty and variation inside real-time compensation system.
6. the underwater robot sliding-mode control according to claim 1 based on extended state observer, feature exist
In in the step S1 under inertial system in the equation of motion
Wherein D*(v(t),η(t))v(t),g*(η (t)) is the unknown.
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| CN109521798A (en) * | 2019-01-24 | 2019-03-26 | 大连海事大学 | AUV motion control method based on finite time extended state observer |
| CN109669345A (en) * | 2018-12-24 | 2019-04-23 | 中国海洋大学 | Underwater robot fuzzy motion control method based on ESO |
| CN110061666A (en) * | 2018-09-29 | 2019-07-26 | 哈尔滨工程大学 | PMSM Speed performance improvement method based on full rank TSM control |
| CN112286227A (en) * | 2020-11-03 | 2021-01-29 | 西北工业大学 | Underwater robot track control method and system based on differential tracker and disturbance observer |
| CN112506053A (en) * | 2020-11-27 | 2021-03-16 | 江南大学 | Motion control method of manned submersible |
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| CN109164702B (en) * | 2018-07-26 | 2021-09-14 | 西北工业大学 | Self-adaptive multivariable generalized supercoiling method |
| CN109164702A (en) * | 2018-07-26 | 2019-01-08 | 西北工业大学 | A kind of adaptive Multivariable Generalized supercoil method |
| CN109358501A (en) * | 2018-09-28 | 2019-02-19 | 中国科学院长春光学精密机械与物理研究所 | Auto-disturbance-rejection Control, controller and smart tracking control system |
| CN110061666B (en) * | 2018-09-29 | 2020-11-03 | 哈尔滨工程大学 | Permanent magnet synchronous motor speed regulation performance improvement method based on full-order terminal sliding mode control |
| CN110061666A (en) * | 2018-09-29 | 2019-07-26 | 哈尔滨工程大学 | PMSM Speed performance improvement method based on full rank TSM control |
| CN109669345A (en) * | 2018-12-24 | 2019-04-23 | 中国海洋大学 | Underwater robot fuzzy motion control method based on ESO |
| CN109521798A (en) * | 2019-01-24 | 2019-03-26 | 大连海事大学 | AUV motion control method based on finite time extended state observer |
| CN112286227A (en) * | 2020-11-03 | 2021-01-29 | 西北工业大学 | Underwater robot track control method and system based on differential tracker and disturbance observer |
| CN112286227B (en) * | 2020-11-03 | 2022-03-18 | 西北工业大学 | Underwater robot track control method and system based on differential tracker and disturbance observer |
| CN112506053A (en) * | 2020-11-27 | 2021-03-16 | 江南大学 | Motion control method of manned submersible |
| CN113238567A (en) * | 2021-04-30 | 2021-08-10 | 哈尔滨工程大学 | Benthonic AUV weak buffeting integral sliding mode point stabilizing control method based on extended state observer |
| CN113238567B (en) * | 2021-04-30 | 2021-12-10 | 哈尔滨工程大学 | Benthonic AUV weak buffeting integral sliding mode point stabilizing control method based on extended state observer |
| CN117519322A (en) * | 2024-01-04 | 2024-02-06 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Dynamic bandwidth active disturbance rejection control method for aircraft electromechanical actuator |
| CN117519322B (en) * | 2024-01-04 | 2024-03-19 | 中国航空工业集团公司金城南京机电液压工程研究中心 | Dynamic bandwidth active disturbance rejection control method for aircraft electromechanical actuator |
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